Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix smoother server tests #3663

Merged
merged 2 commits into from
Jun 27, 2023
Merged

Fix smoother server tests #3663

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
153f465
Fix smoother server tests
SteveMacenski Jun 27, 2023
96b6d8e
Update test_smoother_server.cpp
SteveMacenski Jun 27, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
38 changes: 18 additions & 20 deletions nav2_smoother/test/test_smoother_server.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -223,21 +223,16 @@ class DummySmootherServer : public nav2_smoother::SmootherServer
};

// Define a test class to hold the context for the tests

class SmootherConfigTest : public ::testing::Test
{
};

class SmootherTest : public ::testing::Test
{
protected:
SmootherTest() {SetUp();}
public:
SmootherTest() {}
~SmootherTest() {}

void SetUp()
void SetUp() override
{
node_lifecycle_ =
std::make_shared<rclcpp_lifecycle::LifecycleNode>(
node_ =
std::make_shared<rclcpp::Node>(
"LifecycleSmootherTestNode", rclcpp::NodeOptions());

smoother_server_ = std::make_shared<DummySmootherServer>();
Expand All @@ -252,10 +247,10 @@ class SmootherTest : public ::testing::Test
smoother_server_->activate();

client_ = rclcpp_action::create_client<SmoothAction>(
node_lifecycle_->get_node_base_interface(),
node_lifecycle_->get_node_graph_interface(),
node_lifecycle_->get_node_logging_interface(),
node_lifecycle_->get_node_waitables_interface(), "smooth_path");
node_->get_node_base_interface(),
node_->get_node_graph_interface(),
node_->get_node_logging_interface(),
node_->get_node_waitables_interface(), "smooth_path");
std::cout << "Setup complete." << std::endl;
}

Expand All @@ -264,6 +259,9 @@ class SmootherTest : public ::testing::Test
smoother_server_->deactivate();
smoother_server_->cleanup();
smoother_server_->shutdown();
smoother_server_.reset();
client_.reset();
node_.reset();
}

bool sendGoal(
Expand Down Expand Up @@ -291,7 +289,7 @@ class SmootherTest : public ::testing::Test

auto future_goal = client_->async_send_goal(goal);

if (rclcpp::spin_until_future_complete(node_lifecycle_, future_goal) !=
if (rclcpp::spin_until_future_complete(node_, future_goal) !=
rclcpp::FutureReturnCode::SUCCESS)
{
std::cout << "failed sending goal" << std::endl;
Expand All @@ -315,12 +313,12 @@ class SmootherTest : public ::testing::Test
std::cout << "Getting async result..." << std::endl;
auto future_result = client_->async_get_result(goal_handle_);
std::cout << "Waiting on future..." << std::endl;
rclcpp::spin_until_future_complete(node_lifecycle_, future_result);
rclcpp::spin_until_future_complete(node_, future_result);
std::cout << "future received!" << std::endl;
return future_result.get();
}

std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_lifecycle_;
std::shared_ptr<rclcpp::Node> node_;
std::shared_ptr<DummySmootherServer> smoother_server_;
std::shared_ptr<rclcpp_action::Client<SmoothAction>> client_;
std::shared_ptr<rclcpp_action::ClientGoalHandle<SmoothAction>> goal_handle_;
Expand Down Expand Up @@ -387,7 +385,7 @@ TEST_F(SmootherTest, testingCollisionCheckDisabled)
SUCCEED();
}

TEST_F(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin)
TEST(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin)
{
auto smoother_server = std::make_shared<DummySmootherServer>();
smoother_server->set_parameter(
Expand All @@ -402,7 +400,7 @@ TEST_F(SmootherConfigTest, testingConfigureSuccessWithValidSmootherPlugin)
SUCCEED();
}

TEST_F(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin)
TEST(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin)
{
auto smoother_server = std::make_shared<DummySmootherServer>();
smoother_server->set_parameter(
Expand All @@ -417,7 +415,7 @@ TEST_F(SmootherConfigTest, testingConfigureFailureWithInvalidSmootherPlugin)
SUCCEED();
}

TEST_F(SmootherConfigTest, testingConfigureSuccessWithDefaultPlugin)
TEST(SmootherConfigTest, testingConfigureSuccessWithDefaultPlugin)
{
auto smoother_server = std::make_shared<DummySmootherServer>();
auto state = smoother_server->configure();
Expand Down